SurgSim::Physics::ContactConstraintGeneration Class Reference

Generate a constraint for every contact that was calculated. More...

#include <SurgSim/Physics/ContactConstraintGeneration.h>

Inheritance diagram for SurgSim::Physics::ContactConstraintGeneration:

Public Member Functions
	ContactConstraintGeneration (bool doCopyState=false)
	Constructor. More...
	SURGSIM_CLASSNAME (SurgSim::Physics::ContactConstraintGeneration)
	~ContactConstraintGeneration ()
	Destructor. More...
Public Member Functions inherited from SurgSim::Physics::Computation
	Computation (bool doCopyState)
	Constructor. More...
virtual	~Computation ()
	Destructor. More...
std::shared_ptr< PhysicsManagerState >	update (double dt, const std::shared_ptr< PhysicsManagerState > &state)
	Public Interface execute this objects computations, dt is the time from the last update call in seconds. More...
void	setDoCopyState (bool val)
	Sets up whether the computation will copy the state of PhysicsManagerState before executing. More...
bool	isCopyingState ()
	Query if this object is copying the PhysicsManagerState. More...
virtual std::string	getClassName () const =0
	The class name for this class. More...
Framework::Timer &	getTimer ()
	Provides access to the update timer. More...

Private Member Functions
std::shared_ptr< PhysicsManagerState >	doUpdate (const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
	Overridden function from Computation, the actual work is done here. More...
std::shared_ptr< SurgSim::DataStructures::Location >	makeLocation (std::shared_ptr< SurgSim::Physics::Representation > physicsRepresentation, std::shared_ptr< SurgSim::Collision::Representation > collisionRepresentation, const SurgSim::DataStructures::Location &location)
	Generate a location from a Collision Representation. More...

Private Attributes
std::shared_ptr< SurgSim::Framework::Logger >	m_logger
	The logger for this class. More...

Additional Inherited Members

Detailed Description

Generate a constraint for every contact that was calculated.

The general algorithm is such, for each pair of Collision Representations that has Contacts For each contact:

• Generate a localization for each side of the pair
• Find the correct CollisionImplementation for the Representation and type of constraint, note that currently we use only one type of constraint for the collision
• Create the ConstraintData for the contact with
• Create a constraint from, the ContactImplmentation, Localization and ConstraintData
• Add it to the list of Constraints At the end those constraints are added as contact constraints to the physics state

Constructor & Destructor Documentation

ContactConstraintGeneration()

SurgSim::Physics::ContactConstraintGeneration::ContactConstraintGeneration ( bool  doCopyState = false )

explicit

Constructor.

Parameters

doCopyState

Specify if the output state in Computation::Update() is a copy or not of the input state

~ContactConstraintGeneration()

SurgSim::Physics::ContactConstraintGeneration::~ContactConstraintGeneration

(

)

Destructor.

Member Function Documentation

doUpdate()

std::shared_ptr< PhysicsManagerState > SurgSim::Physics::ContactConstraintGeneration::doUpdate ( const double &  dt, const std::shared_ptr< PhysicsManagerState > &  state  )

overrideprivatevirtual

Overridden function from Computation, the actual work is done here.

Parameters

dt	The time passed from the last update in seconds.
state	The physics state.

Returns

The changed state of the, depending on the setting of doCopyState this is either the same instance or a copied instance of the physics state.

Implements SurgSim::Physics::Computation.

makeLocation()

std::shared_ptr< SurgSim::DataStructures::Location > SurgSim::Physics::ContactConstraintGeneration::makeLocation ( std::shared_ptr< SurgSim::Physics::Representation >  physicsRepresentation, std::shared_ptr< SurgSim::Collision::Representation >  collisionRepresentation, const SurgSim::DataStructures::Location &  location  )

private

Generate a location from a Collision Representation.

Parameters

physicsRepresentation	The physics representation.
collisionRepresentation	The collision representation.
location	The location generated by the contact calculation.

Returns

The localization for the collision representations physics representation.

Note

Asserts if cannot Location create shared object.

SURGSIM_CLASSNAME()

SurgSim::Physics::ContactConstraintGeneration::SURGSIM_CLASSNAME

(

SurgSim::Physics::ContactConstraintGeneration

)

Member Data Documentation

m_logger

std::shared_ptr<SurgSim::Framework::Logger> SurgSim::Physics::ContactConstraintGeneration::m_logger

private

The logger for this class.

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The documentation for this class was generated from the following files:

• SurgSim/Physics/ContactConstraintGeneration.h
• SurgSim/Physics/ContactConstraintGeneration.cpp